RJD-1666 Change PathWithLaneId subscription to /api/routing/route

[gmajrobotec]

Description

Abstract

This PR removes /planning/scenario_planning/lane_driving/behavior_planning/path_with_lane_id subscription in FieldOperatorApplication and replaces it with /api/routing/route subscription. It also includes all needed changes in traffic_simulator to use new message.

Details

1. Removed /planning/scenario_planning/lane_driving/behavior_planning/path_with_lane_id subscription.
2. Add /api/routing/route subscription.
3. Change EgoEntity::getRouteLanelets to use new message structure.

Destructive Changes

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Known Limitations

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References

RJD-1666

[github-actions]

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[HansRobo]

@gmajrobotec Could you update communication tables?
https://github.com/tier4/scenario_simulator_v2/blob/master/docs/developer_guide/Communication.md

[sonarqubecloud]

Quality Gate passed

Issues
0 New issues
0 Accepted issues

Measures
0 Security Hotspots
0.0% Coverage on New Code
0.0% Duplication on New Code

See analysis details on SonarQube Cloud